CN114571435A - Hang rail formula and patrol and examine robot actuating mechanism - Google Patents
Hang rail formula and patrol and examine robot actuating mechanism Download PDFInfo
- Publication number
- CN114571435A CN114571435A CN202210255026.5A CN202210255026A CN114571435A CN 114571435 A CN114571435 A CN 114571435A CN 202210255026 A CN202210255026 A CN 202210255026A CN 114571435 A CN114571435 A CN 114571435A
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- CN
- China
- Prior art keywords
- track
- wheel
- walking
- driving wheel
- rail
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses a driving mechanism of a hanging rail type inspection robot, which uses a synchronous belt instead of a gear meshing mechanism during power transmission, and avoids the abrasion of meshing teeth caused by the entering of particles in a use environment. The elastic floating structure added to the driving wheel can automatically adjust the telescopic height of the driving wheel to achieve the purpose of smooth running when the inspection vehicle goes up and down a slope or the track is uneven or foreign matters exist on the track, and can increase or reduce the friction force obtained by the driving wheel when the rail vehicle runs by adjusting the compression amount of the spring. The guide groove is arranged on the track and is specially used for mounting the running guide wheel, so that the smoothness of the inspection vehicle during running is effectively increased, and the turning radius of the inspection vehicle is greatly reduced; the nylon brushes are arranged on the two sides of the suspension wheel and the driving wheel, so that dust and foreign matters on the rail can be automatically removed when the inspection vehicle runs, and the influence on the normal running of the inspection vehicle is avoided. In conclusion, the mechanism is simple, easy to maintain and high in stability.
Description
The technical field is as follows:
the invention relates to a driving mechanism of a rail-mounted inspection robot.
Background art:
at present, gear meshing transmission is mostly adopted in a driving and traveling mechanism of a known rail-hung inspection robot, so that the transmission efficiency is low, the requirement on sealing of a gear box is high, and the maintenance is inconvenient; most of the driving wheels are not provided with elastic floating devices, and the driving wheels are easy to slip or show clamping stagnation when the robot goes up and down a slope or has foreign matters on a walking track; guide wheels of the traveling mechanism are generally attached to the outer edge of a track and are respectively arranged on the left side and the right side of a front shaft and a rear shaft of the robot traveling mechanism, and when the robot turns, inner and outer wheel differences are generated, so that not all the guide wheels can be attached to a guide surface of the track at the same time, and the stability of the body and the movement smoothness of the robot during turning are affected; because the robot is not provided with the integrated track cleaning device, a user needs to regularly carry out separate track cleaning and maintenance work, and the use cost of the robot is increased.
The invention content is as follows:
the invention provides a driving mechanism of a rail-mounted inspection robot to solve the problems in the prior art.
The technical scheme adopted by the invention is as follows:
the utility model provides a hang rail-mounted and patrol and examine robot actuating mechanism, includes walking track, walking wheel, brush, drive wheel, motor, mounting panel, floating plate, direction bearing, hold-in range, synchronizing wheel and buffer lever, the walking wheel is all located on the mounting panel with the brush, the floating plate passes through buffer lever elastic support on the mounting panel, the drive wheel rotates to be connected on the floating plate, and the drive wheel is contradicted on the walking track, the motor is installed on the floating plate, the motor passes through the hold-in range and rotates with the synchronizing wheel drive wheel, be equipped with the guide way of arranging along walking track length direction on the walking track, direction bearing installs on the mounting panel, and direction bearing rolls along the guide way, at the walking wheel along walking track roll in-process, the brush cleans the contact surface of walking track and drive wheel.
Further, the I-shaped track of walking track for having two track grooves is equipped with four walking wheels on the mounting panel, and two walking wheels are a set of correspondence and arrange a track inslot in, and the contact surface of walking wheel and track groove is the track walking face, and the brush is used for right the track walking face cleans.
Furthermore, two guide grooves which are arranged along the length direction of the walking track are symmetrically arranged on the lower end face of the walking track, at least two guide bearings are rotatably connected in each guide groove, the driving wheel is arranged between the two guide grooves, and the contact surface of the driving wheel and the walking track is a friction surface.
The brush comprises a traveling surface brush and a friction surface brush, and the traveling surface brush is arranged on the outer side of the traveling wheel and used for cleaning the rail traveling surface; the friction surface brush is arranged on the outer side of the driving wheel and used for cleaning the friction surface.
Further, the buffer beam includes lock nut, telescopic screw, linear bearing and spring, and linear bearing fixed connection is on the floating plate, and telescopic screw pegs graft in linear bearing, and the spring housing is established on telescopic screw, and the upper end of spring is contradicted on linear bearing, and the bottom is contradicted on telescopic screw, and telescopic screw's upper end threaded connection is on the mounting panel, and lock nut threaded connection is at telescopic screw, and lock nut contradicts on the up end of mounting panel.
Furthermore, a flange surface is arranged on the outer wall surface of the linear bearing and is fixed on the floating plate.
Furthermore, a speed reducer is installed on the floating plate, a motor shaft of the motor is connected with an input end of the speed reducer, an output end of the speed reducer is connected with a driving synchronous belt wheel, a driven synchronous belt wheel is connected to the driving wheel, and the driving synchronous belt wheel is linked with the driven synchronous belt wheel through a synchronous belt.
The invention has the following beneficial effects:
the invention uses the synchronous belt instead of a gear meshing mechanism during power transmission, thereby avoiding the abrasion of meshing teeth caused by the entry of particles in the use environment. The elastic floating structure added to the driving wheel can automatically adjust the telescopic height of the driving wheel to achieve the purpose of smooth running when the inspection vehicle goes up and down a slope or the track is uneven or foreign matters exist on the track, and can increase or reduce the friction force obtained by the driving wheel when the rail vehicle runs by adjusting the compression amount of the spring. The guide groove is arranged on the track and is specially used for mounting the running guide wheel, so that the smoothness of the inspection vehicle during running is effectively increased, and the turning radius of the inspection vehicle is greatly reduced; the nylon brushes are arranged on the two sides of the suspension wheel and the driving wheel, so that dust and foreign matters on the rail can be automatically removed when the inspection vehicle runs, and the influence on the normal running of the inspection vehicle is avoided. In conclusion, the mechanism is simple, easy to maintain and high in stability.
Description of the drawings:
FIG. 1 is a block diagram of the present invention.
Fig. 2 is a cross-sectional view of the running rail.
Fig. 3 is a mounting structure diagram of the road wheel and the road surface brush.
Fig. 4 is a view showing an installation structure of a guide bearing and a rubbing surface brush.
Fig. 5 is a view showing the installation structure of the driving wheel and the buffer lever on the floating plate.
Fig. 6 is a sectional view of the buffer rod.
Fig. 7 is a view showing an installation structure of the motor, the reducer, and the driving timing pulley.
In the figure: 1-a walking track, 4-a mounting plate, 6-a buffer rod, 8-a floating plate, 9-a synchronous belt, 10-a track walking surface, 11-a guide groove, 12-a friction surface, 13-a walking wheel, 14-a walking wheel base, 15-a walking surface brush bracket, 16-a walking surface brush, 18-a guide bearing and 19-a guide bearing mounting shaft, 20-a guide shaft support, 21-a friction surface brush, 22-a friction surface brush support, 23-a driving wheel, 24-a driving wheel bearing, 25-a driving wheel shaft, 26-a driven synchronous pulley, 29-a locking nut, 30-a telescopic screw rod, 31-a linear bearing, 32-a spring, 33-a motor, 34-a speed reducer and 36-a driving synchronous pulley.
The specific implementation mode is as follows:
the invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the invention relates to a rail-mounted inspection robot driving mechanism, which comprises a traveling track 1, traveling wheels 13, brushes, driving wheels 23, a motor 33, a mounting plate 4, a floating plate 8, a guide bearing 18, a synchronous belt 9, a synchronous wheel and a buffer rod 6, wherein the traveling wheels 13 and the brushes are arranged on the mounting plate 4, the floating plate 8 is elastically supported on the mounting plate 4 through the buffer rod 6, the driving wheels 23 are rotatably connected to the floating plate 8, the driving wheels 23 abut against the traveling track 1, the motor 33 is mounted on the floating plate 8, the motor 33 drives the driving wheels 23 to rotate through the synchronous belt 9 and the driving wheels 23, and the driving wheels 23 realize the movement on the traveling track 1 through the contact friction force between the driving wheels 23 and the traveling track 1. The brush is characterized in that a guide groove 11 arranged along the length direction of the walking track 1 is formed in the walking track 1, a guide bearing 18 is installed on the installation plate 4, the guide bearing 18 rolls along the guide groove 11, the brush comprises a walking surface brush 16 and a friction surface brush 21 in the process that the walking wheel 13 rolls along the walking track 1, and the brush is used for cleaning the contact surface between the walking track 1 and the walking wheel 13 and the contact surface between the walking track 1 and the driving wheel 23.
As shown in fig. 2 and 3, the traveling rail 1 of the present invention is an i-shaped rail having two rail grooves, four traveling wheels 13 are disposed on the mounting plate 4, each traveling wheel 13 is mounted on the mounting plate 4 through a traveling wheel base 14, two traveling wheels 13 are correspondingly disposed in one rail groove as a group, a contact surface between the traveling wheel 13 and the rail groove is a rail traveling surface 10, a traveling surface brush 16 is fixed on the traveling wheel base 14 through a traveling surface brush support 15, the traveling surface brush 16 is disposed outside the traveling wheel 13, and the traveling surface brush 16 is used for cleaning the rail traveling surface 10.
Referring to fig. 4, two guide grooves 11 are symmetrically formed on the lower end surface of the traveling rail 1 along the length direction of the traveling rail 1, at least two guide bearings 18 are rotatably connected in each guide groove 11, and the guide bearings 18 are mounted on the mounting plate 4 through guide bearing mounting shafts 19 and guide shaft supports 20.
As shown in fig. 5, the driving wheel 23 is rotatably connected to the floating plate 8 via a driving wheel bearing 24 and a driving wheel shaft 25, the driving wheel 23 is disposed between the two guide grooves 11, and a contact surface between the driving wheel 23 and the running rail 1 is a friction surface 12. The friction surface brush 21 is fixed to the mounting plate 4 by a friction surface brush holder 22, the friction surface brush 21 is provided outside the driving wheel 23, and the friction surface brush 21 is used for cleaning the friction surface 12.
As shown in figure 6, the elastic rod structure of the buffer rod 6 can automatically adjust the telescopic height of the driving wheel to achieve the purpose of smooth running when the inspection vehicle goes up and down a slope or the track is not flat or foreign matters exist on the track when in use, and can increase or reduce the friction force obtained by the driving wheel when the rail vehicle runs by adjusting the compression amount of the spring to adapt to the requirements of different scenes.
The structure of the buffer rod 6 is as follows: the floating plate locking device comprises a locking nut 29, a telescopic screw rod 30, a linear bearing 31 and a spring 32, wherein a flange surface is arranged on the outer wall surface of the linear bearing 31 and is fixed on the floating plate 8. Telescopic screw 30 pegs graft in linear bearing 31, and spring 32 cover is established on telescopic screw 30, and the upper end of spring 32 is contradicted on linear bearing 31, and the bottom is contradicted on telescopic screw 30, and telescopic screw 30's upper end threaded connection is on mounting panel 4, and lock nut 29 threaded connection is at telescopic screw 30, and lock nut 29 contradicts on the up end of mounting panel 4.
As shown in fig. 7, a speed reducer 34 is mounted on the floating plate 8, a motor shaft of the motor 33 is connected to an input end of the speed reducer 34, a driving synchronous pulley 36 is connected to an output end of the speed reducer 34, a driven synchronous pulley 26 is connected to the driving wheel 23, and the driving synchronous pulley 36 and the driven synchronous pulley 26 are linked through a synchronous belt 9.
The invention uses the synchronous belt instead of a gear meshing mechanism during power transmission, thereby avoiding the abrasion of meshing teeth caused by the entering of particles in the use environment. The elastic floating structure added to the driving wheel can automatically adjust the telescopic height of the driving wheel to achieve the purpose of smooth running when the inspection vehicle goes up and down a slope or the track is uneven or foreign matters exist on the track, and can increase or reduce the friction force obtained by the driving wheel when the rail vehicle runs by adjusting the compression amount of the spring. The guide groove is arranged on the track and is specially used for mounting the running guide wheel, so that the smoothness of the inspection vehicle during running is effectively increased, and the turning radius of the inspection vehicle is greatly reduced; the nylon brushes are arranged on the two sides of the suspension wheel and the driving wheel, so that dust and foreign matters on the rail can be automatically removed when the inspection vehicle runs, and the influence on the normal running of the inspection vehicle is avoided. In conclusion, the mechanism is simple, easy to maintain and high in stability.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (7)
1. The utility model provides a hang rail formula and patrol and examine robot actuating mechanism which characterized in that: comprises a walking track (1), a mounting plate (4), a floating plate (8), walking wheels (13), a brush, a driving wheel (23), a motor (33), a guide bearing (18), a synchronous belt (9), a synchronous wheel and a buffer rod (6), wherein the walking wheels (13) and the brush are arranged on the mounting plate (4), the floating plate (8) is elastically supported on the mounting plate (4) through the buffer rod (6), the driving wheel (23) is rotatably connected on the floating plate (8), the driving wheel (23) is abutted on the walking track (1), the motor (33) is arranged on the floating plate (8), the motor (33) is driven to rotate through the synchronous belt (9) and the synchronous wheel driving wheel (23), the walking track (1) is provided with a guide groove (11) arranged along the length direction of the walking track (1), the guide bearing (18) is arranged on the mounting plate (4), and the guide bearing (18) rolls along the guide groove (11), and the brush cleans the contact surface of the walking track (1) and the walking wheel (13) and the contact surface of the walking track (1) and the driving wheel (23) in the process that the walking wheel (13) rolls along the walking track (1).
2. The drive mechanism for the rail-mounted inspection robot according to claim 1, wherein: walking track (1) is equipped with four walking wheels (13) for having the I shape track in two track grooves on mounting panel (4), and two walking wheels (13) are a set of correspondence and arrange a track inslot in, and walking wheel (13) are track walking face (10) with the contact surface in track groove, and the brush is used for right track walking face (10) clean.
3. The drive mechanism for the rail-mounted inspection robot according to claim 2, wherein: the lower end face of the walking track (1) is symmetrically provided with two guide grooves (11) which are arranged along the length direction of the walking track (1), at least two guide bearings (18) are rotatably connected in each guide groove (11), a driving wheel (23) is arranged between the two guide grooves (11), and the contact surface between the driving wheel (23) and the walking track (1) is a friction surface (12).
4. The drive mechanism for the rail-mounted inspection robot according to claim 3, wherein: the brush comprises a traveling surface brush (16) and a friction surface brush (21), wherein the traveling surface brush (16) is arranged on the outer side of the traveling wheel (13) and used for cleaning the rail traveling surface (10); the friction surface brush (21) is arranged outside the driving wheel (23) and is used for cleaning the friction surface (12).
5. The drive mechanism for the rail-mounted inspection robot according to claim 1, wherein: buffer beam (6) are including lock nut (29), flexible screw rod (30), linear bearing (31) and spring (32), linear bearing (31) fixed connection is on floating plate (8), flexible screw rod (30) are pegged graft in linear bearing (31), spring (32) cover is established on flexible screw rod (30), and the upper end of spring (32) is contradicted on linear bearing (31), the bottom is contradicted on flexible screw rod (30), the upper end threaded connection of flexible screw rod (30) is on mounting panel (4), lock nut (29) threaded connection is at flexible screw rod (30), and lock nut (29) are contradicted on the up end of mounting panel (4).
6. The drive mechanism for the rail-mounted inspection robot according to claim 5, wherein: and the outer wall surface of the linear bearing (31) is provided with a flange surface, and the flange surface is fixed on the floating plate (8).
7. The drive mechanism for the rail-mounted inspection robot according to claim 1, wherein: the floating plate (8) is provided with a speed reducer (34), a motor shaft of a motor (33) is connected with the input end of the speed reducer (34), the output end of the speed reducer (34) is connected with a driving synchronous belt wheel (36), a driven synchronous belt wheel (26) is connected onto a driving wheel (23), and the driving synchronous belt wheel (36) is linked with the driven synchronous belt wheel (26) through a synchronous belt (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210255026.5A CN114571435A (en) | 2022-03-16 | 2022-03-16 | Hang rail formula and patrol and examine robot actuating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210255026.5A CN114571435A (en) | 2022-03-16 | 2022-03-16 | Hang rail formula and patrol and examine robot actuating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114571435A true CN114571435A (en) | 2022-06-03 |
Family
ID=81780288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210255026.5A Pending CN114571435A (en) | 2022-03-16 | 2022-03-16 | Hang rail formula and patrol and examine robot actuating mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114571435A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116311807A (en) * | 2023-05-19 | 2023-06-23 | 西安曜合信息科技有限公司 | Indoor air detection alarm device based on artificial intelligence |
| CN116423532A (en) * | 2023-04-11 | 2023-07-14 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type track inspection robot |
| CN117260676A (en) * | 2023-11-17 | 2023-12-22 | 江苏葆隆智能科技有限公司 | Inspection robot based on artificial intelligence and control method thereof |
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| CN205384507U (en) * | 2015-12-29 | 2016-07-13 | 浙江国自机器人技术有限公司 | Track is patrolled and examined walking climbing mechanism of robot and is reached rather than matched with track |
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| CN109531537A (en) * | 2018-12-29 | 2019-03-29 | 湖北凯瑞知行智能装备有限公司 | Disk coal crusing robot track running mechanism |
| CN209867745U (en) * | 2019-04-19 | 2019-12-31 | 诸城市迈德尔机器人科技有限公司 | Welding robot lifting track |
| CN110744524A (en) * | 2019-10-28 | 2020-02-04 | 北京海益同展信息科技有限公司 | Drive guiding mechanism and rail hanging robot |
| CN111673711A (en) * | 2020-05-18 | 2020-09-18 | 贵州贵安新区盛典科技发展有限公司 | Track type inspection robot |
| CN211639893U (en) * | 2019-09-20 | 2020-10-09 | 佛山市荞帆机电科技有限公司 | Robot for die-casting |
| CN111824187A (en) * | 2020-07-21 | 2020-10-27 | 合肥瑞堡科技发展有限公司 | Drive wheel, inspection base and inspection system for pipe rack inspection robot |
-
2022
- 2022-03-16 CN CN202210255026.5A patent/CN114571435A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2004008455A1 (en) * | 2001-09-18 | 2004-01-22 | Storage Technology Corporation | Method and system for transferring energy between robotic mechanisms in an automated storage library |
| CN205384507U (en) * | 2015-12-29 | 2016-07-13 | 浙江国自机器人技术有限公司 | Track is patrolled and examined walking climbing mechanism of robot and is reached rather than matched with track |
| CN107769063A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | Electric inspection process robot and system |
| CN109531537A (en) * | 2018-12-29 | 2019-03-29 | 湖北凯瑞知行智能装备有限公司 | Disk coal crusing robot track running mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116423532A (en) * | 2023-04-11 | 2023-07-14 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type track inspection robot |
| CN116423532B (en) * | 2023-04-11 | 2024-01-30 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type track inspection robot |
| CN116311807A (en) * | 2023-05-19 | 2023-06-23 | 西安曜合信息科技有限公司 | Indoor air detection alarm device based on artificial intelligence |
| CN117260676A (en) * | 2023-11-17 | 2023-12-22 | 江苏葆隆智能科技有限公司 | Inspection robot based on artificial intelligence and control method thereof |
| CN117260676B (en) * | 2023-11-17 | 2024-03-08 | 江苏葆隆智能科技有限公司 | Inspection robot based on artificial intelligence and control method thereof |
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